// Cache here per time step to reduce cache misses.
// final Vec2 m_localCenterA, m_localCenterB;
// float m_invMassA, m_invIA;
// float m_invMassB, m_invIB;
protected internal Joint(IWorldPool argWorldPool, JointDef def)
{
Debug.Assert(def.BodyA != def.BodyB);
Pool = argWorldPool;
Type = def.Type;
Prev = null;
Next = null;
BodyA = def.BodyA;
BodyB = def.BodyB;
CollideConnected = def.CollideConnected;
IslandFlag = false;
UserData = def.UserData;
Index = 0;
EdgeA = new JointEdge();
EdgeA.Joint = null;
EdgeA.Other = null;
EdgeA.Prev = null;
EdgeA.Next = null;
EdgeB = new JointEdge();
EdgeB.Joint = null;
EdgeB.Other = null;
EdgeB.Prev = null;
EdgeB.Next = null;
// m_localCenterA = new Vec2();
// m_localCenterB = new Vec2();
}
// Cache here per time step to reduce cache misses.
// final Vec2 m_localCenterA, m_localCenterB;
// float m_invMassA, m_invIA;
// float m_invMassB, m_invIB;
protected internal Joint(IWorldPool argWorldPool, JointDef def)
{
Debug.Assert(def.bodyA != def.bodyB);
pool = argWorldPool;
m_type = def.type;
m_prev = null;
m_next = null;
m_bodyA = def.bodyA;
m_bodyB = def.bodyB;
m_collideConnected = def.collideConnected;
m_islandFlag = false;
m_userData = def.userData;
m_index = 0;
m_edgeA = new JointEdge();
m_edgeA.joint = null;
m_edgeA.other = null;
m_edgeA.prev = null;
m_edgeA.next = null;
m_edgeB = new JointEdge();
m_edgeB.joint = null;
m_edgeB.other = null;
m_edgeB.prev = null;
m_edgeB.next = null;
// m_localCenterA = new Vec2();
// m_localCenterB = new Vec2();
}
public static Joint Create(World argWorld, JointDef def)
{
//Joint joint = null;
switch (def.Type)
{
case JointType.Mouse:
return(new MouseJoint(argWorld.Pool, (MouseJointDef)def));
case JointType.Distance:
return(new DistanceJoint(argWorld.Pool, (DistanceJointDef)def));
case JointType.Prismatic:
return(new PrismaticJoint(argWorld.Pool, (PrismaticJointDef)def));
case JointType.Revolute:
return(new RevoluteJoint(argWorld.Pool, (RevoluteJointDef)def));
case JointType.Weld:
return(new WeldJoint(argWorld.Pool, (WeldJointDef)def));
case JointType.Friction:
return(new FrictionJoint(argWorld.Pool, (FrictionJointDef)def));
//case JointType.WHEEL:
// return new WheelJoint(argWorld.Pool, (LineJointDef)def);
//case JointType.GEAR:
// return new GearJoint(argWorld.Pool, (GearJointDef)def);
case JointType.Pulley:
return(new PulleyJoint(argWorld.Pool, (PulleyJointDef)def));
case JointType.ConstantVolume:
return(new ConstantVolumeJoint(argWorld, (ConstantVolumeJointDef)def));
}
return(null);
}
/// <summary>
/// create a joint to constrain bodies together. No reference to the definition is retained. This
/// may cause the connected bodies to cease colliding.
/// </summary>
/// <warning>This function is locked during callbacks.</warning>
/// <param name="def"></param>
/// <returns></returns>
public virtual Joint createJoint(JointDef def)
{
Debug.Assert(Locked == false);
if (Locked)
{
return null;
}
Joint j = Joint.create(this, def);
// Connect to the world list.
j.m_prev = null;
j.m_next = m_jointList;
if (m_jointList != null)
{
m_jointList.m_prev = j;
}
m_jointList = j;
++m_jointCount;
// Connect to the bodies' doubly linked lists.
j.m_edgeA.joint = j;
j.m_edgeA.other = j.m_bodyB;
j.m_edgeA.prev = null;
j.m_edgeA.next = j.m_bodyA.m_jointList;
if (j.m_bodyA.m_jointList != null)
{
j.m_bodyA.m_jointList.prev = j.m_edgeA;
}
j.m_bodyA.m_jointList = j.m_edgeA;
j.m_edgeB.joint = j;
j.m_edgeB.other = j.m_bodyA;
j.m_edgeB.prev = null;
j.m_edgeB.next = j.m_bodyB.m_jointList;
if (j.m_bodyB.m_jointList != null)
{
j.m_bodyB.m_jointList.prev = j.m_edgeB;
}
j.m_bodyB.m_jointList = j.m_edgeB;
Body bodyA = def.bodyA;
Body bodyB = def.bodyB;
// If the joint prevents collisions, then flag any contacts for filtering.
if (def.collideConnected == false)
{
ContactEdge edge = bodyB.ContactList;
while (edge != null)
{
if (edge.other == bodyA)
{
// Flag the contact for filtering at the next time step (where either
// body is awake).
edge.contact.flagForFiltering();
}
edge = edge.next;
}
}
// Note: creating a joint doesn't wake the bodies.
return j;
}
/// <summary>
/// create a joint to constrain bodies together. No reference to the definition is retained. This
/// may cause the connected bodies to cease colliding.
/// </summary>
/// <warning>This function is locked during callbacks.</warning>
/// <param name="def"></param>
/// <returns></returns>
public Joint CreateJoint(JointDef def)
{
Debug.Assert(Locked == false);
if (Locked)
{
return null;
}
Joint j = Joint.Create(this, def);
// Connect to the world list.
j.Prev = null;
j.Next = JointList;
if (JointList != null)
{
JointList.Prev = j;
}
JointList = j;
++JointCount;
// Connect to the bodies' doubly linked lists.
j.EdgeA.Joint = j;
j.EdgeA.Other = j.BodyB;
j.EdgeA.Prev = null;
j.EdgeA.Next = j.BodyA.JointList;
if (j.BodyA.JointList != null)
{
j.BodyA.JointList.Prev = j.EdgeA;
}
j.BodyA.JointList = j.EdgeA;
j.EdgeB.Joint = j;
j.EdgeB.Other = j.BodyA;
j.EdgeB.Prev = null;
j.EdgeB.Next = j.BodyB.JointList;
if (j.BodyB.JointList != null)
{
j.BodyB.JointList.Prev = j.EdgeB;
}
j.BodyB.JointList = j.EdgeB;
Body bodyA = def.BodyA;
Body bodyB = def.BodyB;
// If the joint prevents collisions, then flag any contacts for filtering.
if (def.CollideConnected == false)
{
ContactEdge edge = bodyB.ContactList;
while (edge != null)
{
if (edge.Other == bodyA)
{
// Flag the contact for filtering at the next time step (where either
// body is awake).
edge.Contact.SetFlagForFiltering();
}
edge = edge.Next;
}
}
// Note: creating a joint doesn't wake the bodies.
return j;
}
// Cache here per time step to reduce cache misses.
// final Vec2 m_localCenterA, m_localCenterB;
// float m_invMassA, m_invIA;
// float m_invMassB, m_invIB;
protected internal Joint(IWorldPool argWorldPool, JointDef def)
{
Debug.Assert(def.BodyA != def.BodyB);
Pool = argWorldPool;
Type = def.Type;
Prev = null;
Next = null;
BodyA = def.BodyA;
BodyB = def.BodyB;
CollideConnected = def.CollideConnected;
IslandFlag = false;
UserData = def.UserData;
Index = 0;
EdgeA = new JointEdge();
EdgeA.Joint = null;
EdgeA.Other = null;
EdgeA.Prev = null;
EdgeA.Next = null;
EdgeB = new JointEdge();
EdgeB.Joint = null;
EdgeB.Other = null;
EdgeB.Prev = null;
EdgeB.Next = null;
// m_localCenterA = new Vec2();
// m_localCenterB = new Vec2();
}
public static Joint Create(World argWorld, JointDef def)
{
//Joint joint = null;
switch (def.Type)
{
case JointType.Mouse:
return new MouseJoint(argWorld.Pool, (MouseJointDef)def);
case JointType.Distance:
return new DistanceJoint(argWorld.Pool, (DistanceJointDef)def);
case JointType.Prismatic:
return new PrismaticJoint(argWorld.Pool, (PrismaticJointDef)def);
case JointType.Revolute:
return new RevoluteJoint(argWorld.Pool, (RevoluteJointDef)def);
case JointType.Weld:
return new WeldJoint(argWorld.Pool, (WeldJointDef)def);
case JointType.Friction:
return new FrictionJoint(argWorld.Pool, (FrictionJointDef)def);
//case JointType.WHEEL:
// return new WheelJoint(argWorld.Pool, (LineJointDef)def);
//case JointType.GEAR:
// return new GearJoint(argWorld.Pool, (GearJointDef)def);
case JointType.Pulley:
return new PulleyJoint(argWorld.Pool, (PulleyJointDef)def);
case JointType.ConstantVolume:
return new ConstantVolumeJoint(argWorld, (ConstantVolumeJointDef)def);
}
return null;
}
public static Joint create(World argWorld, JointDef def)
{
//Joint joint = null;
switch (def.type)
{
case JointType.MOUSE:
return new MouseJoint(argWorld.Pool, (MouseJointDef)def);
case JointType.DISTANCE:
return new DistanceJoint(argWorld.Pool, (DistanceJointDef)def);
case JointType.PRISMATIC:
return new PrismaticJoint(argWorld.Pool, (PrismaticJointDef)def);
case JointType.REVOLUTE:
return new RevoluteJoint(argWorld.Pool, (RevoluteJointDef)def);
case JointType.WELD:
return new WeldJoint(argWorld.Pool, (WeldJointDef)def);
case JointType.FRICTION:
return new FrictionJoint(argWorld.Pool, (FrictionJointDef)def);
//case JointType.WHEEL:
// return new WheelJoint(argWorld.Pool, (LineJointDef)def);
//case JointType.GEAR:
// return new GearJoint(argWorld.Pool, (GearJointDef)def);
case JointType.PULLEY:
return new PulleyJoint(argWorld.Pool, (PulleyJointDef)def);
case JointType.CONSTANT_VOLUME:
return new ConstantVolumeJoint(argWorld, (ConstantVolumeJointDef)def);
}
return null;
}
